A prediction model for predicting a mobile robot state is constructed to represent a state change of the mobile robot in a prediction interval of a predetermined duration; time-series data on a control input to ensure stability of the mobile robot is obtained in the prediction interval using a predetermined stability evaluation criterion and a constraint condition based on a mechanical balance; a center-of-gravity trajectory of the mobile robot is obtained based on the time-series data and prediction model; a slack variable for relaxing a constraint is introduced into a constraint condition; a slack variable is introduced into the stability evaluation criterion such that the variable becomes zero when a solution to a stable trajectory is obtained under the constraint condition and a slack variable value is generated when the trajectory diverges under the constraint condition; and positions of contact points are changed so as to cancel the generated value.


    Access

    Download


    Export, share and cite



    Title :

    Movement control method for mobile robot


    Contributors:

    Publication date :

    2016-05-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



    MOVEMENT CONTROL METHOD FOR MOBILE ROBOT, AND MOBILE ROBOT

    WANG SHUAI / ZHANG JINGFAN / LI ZHAOXIANG et al. | European Patent Office | 2024

    Free access

    MOVEMENT CONTROL METHOD FOR MOBILE ROBOT AND MOBILE ROBOT

    WANG SHUAI / ZHANG JINGFAN / LI ZHAOXIANG et al. | European Patent Office | 2024

    Free access

    MOVEMENT CONTROL METHOD FOR MOBILE ROBOT

    DOI MASAHIRO | European Patent Office | 2015

    Free access


    Autonomous mobile robot and movement control method

    HAYAMA SATORU | European Patent Office | 2019

    Free access